Lab:06 Transient analysis of first order

systems
Objective:
The following lab would help the students to get familiar with first order systems and also with
specifications of the first order systems.
Software:
Matlab
First Order System:
The transfer function of the first order system is given below. The input to first order system is unit step
defined by R(s). Response of first order system depends on single parameter “a”, which defines the speed of
output response.
a 1
G ( s )= , R ( s) =
s +a s

Figure 6.1 First Order System

The output of system will be product of input of the system and transfer function of the
system. Output will be having two poles one at origin and other at s = -a.
a
C ( s) = (1)
s(s+ a)
In time domain output of first order system will be
C ( t )=1−e−at (2)

Figure 6.2 Output Response of First Order System

Time constant of first order system is given by
1
τ= (3)
a
Rise Time: Time required for system output to reach from 10% of final value (
C ( t )=0.1 ×C f (t)) to 90% of final value (C ( t )=0.9 ×C f (t)).
2.2
T r= (4)
a
Settling Time: It is defined as the time for the response to reach and stay within 2 % of its
final value. (0.98 ×C f ( t ) 1.02 ×C f (t ))
4
T s= (If 2% of final value criterion is used) (5)
a
3
T s= (If 5% of final value criterion is used) (6)
a
 Task 1: Find the pole location, rise time and settling time of the following system.
1
a) G ( s )=
s +1
5
b) G ( s )=
s +2
1
Code for system G ( s )= s +1
s=tf('s');
sys=(1/(s+1));
step(sys)
grid on
b=1;
a=[1 1];
[z,p,k] = tf2zp(b,a)
figure,
zplane(z,p)

1
Figure 1 : Step Response of system G ( s )=
s +1
 1
Figure 2 : Pole-Zero plot for system G ( s )=
s +1
5
Code for system G ( s )= s +2
s=tf('s');
sys=(5/(s+2));
step(sys)
grid on
b=5;
a=[1 2];

[z,p,k] = tf2zp(b,a)
figure,
zplane(z,p)
 5
Figure 3 : Step Response of system G ( s )=
s +2

5
Figure 4 : Pole-Zero plot for system G ( s )=
s +2
1
Code for calculation of system G ( s )=
s +1
clc
a=1;
time_constant_calculated = 1/a
time_constant_observed = 0.994 % at 63% of final value
t1 = 0.106; % at 10% of final value
t2 = 2.3; % at 90% of final value
rise_time_observed = t2-t1
rise_time_calculated = 2.2/a
Settelling_time_observed = 3.91
Settelling_time_calculated = 4/a

5
Code for calculation of system G ( s )=
s +2

clc
a=2;
time_constant_calculated = 1/a
time_constant_observed = 0.494 % at 63% of final value
t1 = 0.0521; % at 10% of final value
t2 = 1.15; % at 90% of final value
rise_time_observed = t2-t1
rise_time_calculated = 2.2/a
Settelling_time_observed = 1.94
Settelling_time_calculated = 4/a

From figure 1 & 3 we get the following results

 Write your observations of Task 1:
Pole Rise Time Rise Time Settling Time Settling Time
S. No
Location Calculated Observed Calculated Observed
a) -1 2.2000 2.1940 4 3.91
b) -2 1.1000 1.0979 2 1.9400

Table 6.1 System observed response

Task 2:For the RC circuit given below, find equation for output voltage, pole location, rise
time and settling time when the applied voltage is V i ( t ) = step voltage, For the circuit R = 50Ω
and C = 5mF.

Figure 6.3: RC Circuit

Solution :-

V ¿ =Ri+V c ------------ (i) by KVL

1
As, V C =
C
∫ idt
And
d
i c =C V ---------- (ii)
dt c

Putting (ii) in (i)

d
V ¿ =R[C V ]+V c ------------(iii)
dt c
As V ¿ =1 ------------ (iv) step input
So,
After taking laplace of eq (iii) and putting eq (iv) in eq(iii)
We get,

1=RC∗s∗V C ( s )+V C (s) ----------- (v)

So,
4
V C ( s )= ------------(vi)
s +4

Equation (vi) is the transfer function of the given RC circuit.

In time domain output of the given system is

−4 t
V C ( t ) =1−e ------------(vii)

4
Code for system V 0 ( s )= s +4

s=tf('s');
sys=(4/(s+4));
step(sys)
grid on
b=4;
a=[1 4];
[z,p,k] = tf2zp(b,a)
figure,
zplane(z,p)
 4
Figure 5 : Step Response of system V o ( s )=
s+ 4

4
Figure 6 : Pole-Zero plot for system G ( s )=
s +4
4
Code for calculation of system V o ( s )=
s+ 4
clc
a=4;
time_constant_calculated = 1/a
time_constant_observed = 0.249 % at 63% of final value
t1 = 0.0269; % at 10% of final value
t2 = 0.576; % at 90% of final value

rise_time_observed = t2-t1
rise_time_calculated = 2.2/a

Settelling_time_observed = 0.976
Settelling_time_calculated = 4/a

From figure 5 observed values are obtained

4
Output Voltage Equation : V O =
S+ 4

Pole Location: -4
Rise Time (Calculated): 0.5500
Rise Time (Observed): 0.5491
Settling Time (Observed): 0.9760
Settling Time (Calculated): 1
Table 6.2 System observed response

DC Motor
A motor is an electromechanical component that yields an angular displacement output, θm , for an
input voltage,e a, that is, a mechanical output generated by an electrical input. The motor’s schematic
is shown in Figure 6.4(a) and its transfer function for motor speed response is shown in Figure 6.4(b).
The DC motor speed transfer function is
 ωm (s) K t /( Ra J m )
=

( )
Ea ( s) 1 Kt K b (7)
s+ D m+
Jm Ra
Or for simplicity we can use
ωm (s) K
= (8)
Ea (s) ( s +α )

Figure 6.3 DC Motor (a) Schematic, (b) Block Diagram

Task 3:In this task students will study changes occur in angular velocity when location of pole is
varied, where location of pole is dependent on different parameters of the system. Take K=1 and vary
α from 1 to 5 and study the variation in response then take K=5, vary α from 1 to 5 and study the
effect. Use step input and write your observations.

Solution :

clc
clear all

k=1;
for a=1:5
s=tf('s');
sys=(k/(s+a));

if (a==1)
hold on;plot(step(sys),'linewidth',2)
end

if (a==2)
hold on,plot(step(sys),':','linewidth',2)
end

if (a==3)
hold on,plot(step(sys),'--','linewidth',2)
end

if (a==4)
hold on,plot(step(sys),'-.','linewidth',2)
end
if (a==5)
hold on,plot(step(sys),'','linewidth',2)
legend({'\alpha = 1','\alpha = 2','\alpha = 3','\alpha = 4','\alpha =
5'},'FontSize',12,'fontweight','bold')
title('Step Response when k=1')

xlabel('time (sec)','fontweight','bold','FontSize',12)
ylabel('speed','fontweight','bold','FontSize',12)
grid on
end
end

Figure 7

Figure 8
Figure 9 : Step response when α = 1

Figure 10 : Step response when α = 2

Figure 11 : Step response when α = 3

Figure 12 : step response for α = 4

 Figure 13 : step response for α = 5

Observations
1) When the value of pole increases, it moves away from the imaginary axis, due to this rise time
and settling time both reduces as shown in figure 7 and 8.
2) One more effect on final value is that it reduces with the increase in the value of pole.
3) Figure 9 through 13 shows the Time Constant, Rise time and Settling Time for different
values of α.
4) As K = K t /(Ra J m ) , these parameter only work as a gain in the speed.

5) As α =
1
Jm(Dm +
KtKb
Ra )
, these parameters of motor works as a pole of the system. If over

value of α increases than time constant , Settling time and Rise time reduces.
6) The give table 1 gives the vales of time constant , Settling time and Rise time reduces for
different values of α.

Values Final Time Time Rise time Rise time Settling Settling
of α Value constant constant Calculated Observed time time
calculated Observed Calculated observed
α =1 1 1 0.9940 2.2 2.1920 4 3.91
α =2 0.5 0.5 0.4960 1.1 1.0970 2 1.9500
α =3 0.333 0.3333 0.3300 0.7333 0.7164 1.3333 1.2300
α =4 0.25 0.2500 0.2480 0.5500 0.5494 1 0.9565
α=5 0.2 0.2000 0.1990 0.4400 0.4411 0.8000 0.7800
Table 1